DE102013100048A1 - Picking device for picking goods, has load receiving unit that is moved between fully extended position and retracted position, such that extension path of load receiving unit is controlled based on type, number or dimensions of goods - Google Patents

Abstract

The picking device (1) has a shelf system (22) having several shelves (20) that are traveled through respective travel paths (28) of shelf system. A load receiving unit is moved continuously or stepped between fully extended position and retracted position, such that extension path of load receiving unit is controlled based on type, number or dimensions of goods. The holding arms are provided for fixing position of goods on shuttle vehicle (18). A control unit is arranged to control shuttle vehicle such that different goods are movable along predetermined shelves in succession.

Description

The invention relates to an automatic order picking device according to the preamble of patent claim 1.

For the optimization of warehouse logistics processes, increasingly automated picking concepts are being implemented.

Picking systems are known in which the containers are delivered sorted and then placed on separation systems in layers or as individual containers on trays. These loaded trays are then conveyed by means of a complex conveyor, for example consisting of a variety of driven rollers on which the trays roll to a tray warehouse and stored there by means of storage and retrieval equipment.

The automatic picking takes place in this known solution outside of the tray warehouse. For this purpose, the corresponding trays are sequentially outsourced by the stacker cranes, removed the container in the required number of trays, isolated and fed over long conveyor lines a palletizer in the packing order. This packing order is generated by a packing pattern generator depending on the job.

If necessary, the "opened" remaining trays are then returned to the tray warehouse.

A problem of such solutions is that on the one hand a very considerable effort for the provision, storage and preparation of the trays is required. Very expensive are the conveyors that are required to spend the trays in the tray warehouse and to promote from there to the picking station.

Furthermore, it is relatively common in these systems to disturbances at the in / Ausschleusstellen and Eckumsetzungen by unstable or unstable container, so that the corresponding conveyor line is blocked. These disturbances must then be eliminated by hand and lead to a "sequence break" at the palletizing station, so that despite automation, a relatively high personnel costs is required.

Another disadvantage is the considerable space required, since the elaborate horizontal / vertical conveyor technology and the highly dynamic tray warehouse corresponding rooms must be provided for the picking station.

Also, the required return of the above "residual trays" is extremely expensive and leads to a reduction in picking performance.

A much more flexible logistics system is described under www.YLOG.at, in which so-called shuttles are used, which have four steerable and driven wheels and are designed with an extendable sword-shaped load-carrying device, which is used to pick up one or more containers by the shuttle vehicle directly at the respective shelf suitable is. This is designed as a supporting system, so that no trays or the like must be used. The logistics system is furthermore designed with a shelving system, whereby the shuttles can control each shelf space via rail-like routes. In the event of a malfunction, the picking task of the failed shuttle can be transferred via another shuttle so that no standstills occur in the event of a malfunction.

Such shuttles can be used for order picking of disposable and reusable containers - this is not possible with the prior art described above.

A disadvantage of the shuttle system is that the inclusion of mixed containers, d. h., Is difficult by different containers.

In contrast, the invention has the object to provide a picking device that is adaptable with little effort to different picking tasks.

This object is achieved by a picking device having the features of patent claim 1.

Advantageous developments of the invention are the subject of the dependent claims.

According to the invention, the order picking device has a shelving system which has a plurality of shelves which can be approached along driveways by means of shuttle vehicles. These shuttle vehicles each have a load-bearing load-bearing means which can be extended to take over or deliver the goods. On the shuttle vehicle holding means are further formed, which can hold the goods in a position on the shuttle vehicle. According to the invention, the extension path of the load-receiving device is largely freely controllable depending on the type, number or dimensions of the goods. D. h., The Ausfahrweg can be varied via a central control unit depending on the male container or the like, so that different containers on the Lifting devices can be added or handed over by this for storage or picking. The picking is thus directly on the shelf.

Such a solution is much more flexible than the systems described above, since the shuttle vehicles are autonomously and independently controlled and thus can handle a variety of picking tasks.

The exit depth of the load handling device can be varied steplessly or else graduated. In the latter case, at least two extension positions between a fully extended and the retracted position can be controlled.

The picking device according to the invention is executed in a variant with a control unit which is designed such that the shuttle vehicle can record and transfer several different containers in succession. D. h., The control unit of the picking device is designed with regard to the demand-driven control of the shuttle vehicle.

The shuttle vehicle is preferably provided with its own drive, wherein the chassis has three or four wheels, which are preferably designed steerable.

The installation space for the picking device can be minimized if the shelving system is designed with several levels. The shuttle vehicles can then be moved between the levels via a lift.

In a preferred embodiment of the invention, the order-picking device is designed with an automatic unloading station for depalletizing containers delivered in a pure-type and for transfer to at least one shuttle vehicle.

Furthermore, it is preferred if the picking device is also designed as a palletizing station for palletizing the goods / containers supplied via the shuttle vehicle as a function of a predetermined packing order from the shelving system.

In a particularly preferred embodiment, the shuttle systems are designed with their own power supply, wherein a charge can be made, for example, to the above-mentioned lift.

The control unit is designed so that the plurality of shuttle vehicles are controllable according to the so-called swarm principle. That is, depending on the task at hand, a plurality of shuttle vehicles are moved along different routes between said stations to pick up or transfer goods / containers. As mentioned, a disturbance can be eliminated in a simple way with the aid of this swarm system, since the transport task of a failed shuttle vehicle can be taken over by another shuttle vehicle of the swarm.

A particular advantage of such a solution is that the shelving system can be removed without standstill, since the travel paths are selected according to the construction progress via the control unit.

The effort to control the shuttle vehicles is further minimized if they are controlled via wireless connections, for example via radio, wireless. It is also advantageous to implement the shuttle vehicle with a positioning system, for example GPS.

In a preferred embodiment of the invention, the shuttle vehicles are designed so that the load-carrying means can be extended on both sides. The wheels are rotatable independently of each other, so that the shuttle vehicles can change the aisle, drive curves and even turn on the spot.

To further reduce the installation space, the shelves of the rack system for receiving a plurality, in the extension direction of the load receiving means one behind the other storage areas may be formed, the furthest rear storage space is formed with a stop for the container / Good.

Advantageous developments of the invention are explained in more detail below with reference to schematic drawings.

Show it:

1 a simple representation of the basic structure of a picking device according to the invention;

2 a discharging and palletizing a concrete solution of a picking according to 1 ;

3 a detailed representation of a shuttle vehicle of the order picking according to 2 ;

4 a longitudinal section through the Depalettierungsbereich the order picking and

5 a longitudinal section of an area for automatic palletizing the picking device.

1 shows the modular basic structure of an automatic order picking device according to the invention 1 , Accordingly, this has, in principle, a logistics axis, via which the pallet warehouse and shipping are connected conveyor technology to the picking system. The unmixed source pallets are delivered from a pallet warehouse and depalletized via unloaders. Any remaining pallets are returned to the pallet warehouse.

The logistics axis are accordingly two unloaders 2a . 2 B assigned to the packages in layers or individually from the delivered pallets and to shuttle vehicles (see 2 ) of a shuttle camp 4 be handed over. About these shuttle vehicles are the isolated containers, which can be designed as disposable or reusable containers in a shelf system explained in more detail below. Furthermore, depending on the picking order, these shuttles are used to remove containers from the racking system and palletise them according to the prescribed packing order. This palletizing is done by means of palletizers 6a . 6b . 6c . 6d , The deposited on the pallet containers are then secured in a suitable manner, for example via a film winding station and then on the logistics axis 8th for shipment to the forwarder or the like handed over or stored.

The above-described components are designed so that a fully automatic picking is guaranteed without manual intervention with minimal susceptibility to interference.

2 shows a horizontal section of a concrete solution of a picking device 1 , wherein here a plane is shown, in which the above-described discharge and palletizing takes place in principle.

It is first assumed that the packages are sorted delivered as so-called source pallets. The delivery of these source pallets takes place at a so-called I point, in which, if necessary, a wrapping film is removed from the source pallet and this then via a conveyor 12 to the logistics axis 8th be encouraged. From the conveyor 12 the supplied source pallet is sent to a cross conveyor 13 passed and from this to the unloaders 2a . 2 B spent. As explained, this contains the two unloaders 2a . 2 B , via which a layer-by-layer depalletization of the source palette takes place. This situation is in the illustration according to 2 with the reference number 14 Mistake.

In operative connection with one unloader each 2a each is a separation station 16a . 16b . 16c over which then the container of a situation 14 to be isolated. In this separation station 16 Furthermore, the containers are aligned and moved to shuttle vehicles (see 3 ) 18 pass and of these without the use of an additional loading aid, such as required in the prior art tray directly into a free shelf 20 a shelving system 22 the shuttle camp 4 stored.

The empty pallets are stacked 24 stacked or unstacked (for shipping) and possibly in pallet buffer locations 13 method. These movements also take place via the cross conveyor or conveyors 13a . 13b ,

The shelving system 22 is with a variety of driveways 28 running over each of the shelves 20 is approachable.

In the system according to the invention are a variety of shuttle vehicles 18 provided by a central control unit 28 wireless with the shuttle vehicles 18 communicate to control them in the shelving system and between the mentioned stations. The control of the other components also takes place via the control unit 28 however, a conventional "wired" controller can be used here.

The control unit 28 is designed so that the variety of shuttle vehicles 18 can be controlled according to the swarm principle, so that, as explained above, a very flexible adaptation to different picking tasks can be done.

3 shows an individual view of such a shuttle vehicle 18 , This has a portal-like construction with two side drive blocks 30 . 32 , in each of which two wheels are mounted. In the illustration according to 3 are only three of these wheels 34a . 34b and 36a to see. The second wheel 36b of the drive block 32 is not visible in this illustration.

Between the two drive blocks 30 . 32 is a load handling device 38 movably mounted in the transverse direction. This can be on both sides of the area between the two drive blocks 30 . 32 drive out. The drive blocks 30 . 32 are designed so that each of the wheels 34a . 34b . 36a . 36b is steerable and drivable, so that virtually any cornering, even with 90 ° branches are approachable along the routes. These routes are in the illustrated embodiment by two rails 38 . 40 executed. The wheels 34 . 36 are rotatable about their vertical axis X by 360 °. These rails just provide a support surface 42 for the wheels 34a . 34b . 36a . 36b available and also serve the lateral guidance.

The distance a between the drive blocks 30 . 32 and thus the width of the sword-like lifting device 38 is adapted to the width of the male container. In principle, the distance can be adjustable.

In the area of a lateral boundary for the container performing drive blocks 30 . 32 are also adjustable support arms 44a . 44b . 44c . 44d provided, which are brought into contact with the containers to these on the shuttle vehicle 18 to fix. These retaining arms 44 can also be in the extension direction on the respective drive block 30 . 32 be moved.

For example, it is possible to use the shuttle vehicle 18 initially a shelf 20 to approach and to take a container of a first kind. For this purpose, the load-carrying means 38 , as shown in phantom extended until it is in the shelf 20 completely absorbed container. In this case, on the front side or the end faces of the load receiving means 38 Rollers or the like may be formed, which simplify driving under the container. The exit depth t is based on the dimensions of the container so that it rests almost over the entire surface.

The next step will be load handling equipment 38 retracted with the container arranged thereon, so that the latter between the two laterally arranged drive blocks 30 . 32 einfährt and there on the support arms, for example, the in 3 right arranged holding arms 44a . 44d is held. Corresponding retaining arms can also in the central region of the drive blocks 30 . 32 be arranged.

As on the shuttle vehicle 18 There is still room for at least one more container, which is via the control unit 28 another move command to the shuttle vehicle 18 Sent, so this along the then predetermined driveway, the next shelf 20 starts up. After relative positioning to this shelf 20 then moves the load handling device 38 turn off, with the already received container on the support arms 44 between the drive blocks 30 . 32 is held back. The further container, the contour of which may be different from that of the already received container, is then received in a corresponding manner and by re-retraction of the lifting device 38 in the area between the two drive blocks 30 . 32 spent. As explained, the respective retraction and extension movements are via the control unit 28 adapted to the particular type of container.

A particular advantage of the system according to the invention is that due to the flat support on the load-carrying means 38 virtually any type of container can be transported, it does not matter if this are disposable or reusable containers.

The thus loaded shuttle vehicle 18 then move according to 2 one of the illustrated palletizers 6a . 6b . 6c or 6d at, wherein the Anfahrreihenfolge is specified via a Packmustergenerator. Depending on this packing order, the palletizing takes place. In order to secure the load on the pallet, a ring wrapper ( 66 ) integrated. The palletized pallets are then over the palletizers associated cross conveyor 13b proceed to the output unit. This has an output conveyor 48 to which the loaded pallet is transferred. This then becomes an automatic pallet wrapper 50 supplied and in this case if necessary wrapped with foil and labeled. Via a connection conveyor 52 then the output of the pallet ready for dispatch is sent to the dispatch or an intermediate storage, for example a high-bay warehouse. The loaded pallets can also be stored in a pallet buffer 27 be stored.

As explained, the shelving system has 22 several layers superimposed in the drawing plane. The shuttle vehicles 18 are about double lifts 54 , each with two shuttle vehicles 18 moveable are transported between the levels. The shuttle vehicles 18 are self-sufficient with their own electric drive, the energy being supplied by accumulators, which can be charged in the lift, so that the charge is sufficient in each case to perform the movements between two lifts.

4 shows a section along the line 1-1 in 2 , This section passes through the unloading area. You can see the cross conveyor in this section 13a , the external pallet buffer space 26 as well as the unloader 2 B , The delivered pallets can be stored in the pallet buffer space 26 be stored and then via the cross conveyor 13a as well as a lift 60 to the unloader 2 B promoted. The unloading plane is formed above the delivery plane. The unloader 2 B has a discharge portal 58 with a layer gripper, over which a layer-wise depalletization takes place. These layers are then over a Verfahrwagen 56 with pulling device to the separating station 16 in which then the separation and the transfer to the described shuttle vehicles takes place. In the illustration according to 4 is also one of the double lifts 54 to transport the shuttle vehicles 18 between the storage levels (1 to 17).

5 shows a corresponding section along the line 2-2 in 2 , This cut passes through the palletizer 6b to the via a shuttle vehicle 18 one out of the shelving system 22 taken out removed container. In the illustrated embodiment, the palletizing is done by means of a palletizing robot 62 , which takes over the single or multiple containers and positions them on the pallet according to the packing pattern.

Each of the palletizing robots 62 are two palletizing shafts 64a . 64b each with a ring winder 66 assigned. The wrapped pallets ready for shipment are then moved to the level of the cross conveyor 13b lowered and into the buffer storage 27 or directly to the output conveyor 48 spent.

In the described embodiment, each shuttle vehicle 18 run with its own navigation system, so that the exact position to the control unit 28 can be transmitted and these in each case depending on the position of the plurality of shuttle vehicles 18 can determine the optimal route. This too is a very significant difference to conventional solutions, where the routes are given.

Such a system can be, for example, with fifty shuttle vehicles 80 operate, with more than 10,000 bins are accessible. With 50 shuttle vehicles, for example, a picking capacity of 3000 containers per hour can be achieved, whereby the achievable output is scalable depending on the number of shuttle vehicles and double lifters.

Disclosed is a picking device with a shelving system that is operated via at least one shuttle vehicle. This shuttle vehicle is provided with a load-receiving means whose extension path is essentially freely controllable.

LIST OF REFERENCE NUMBERS

1

 order picking

2

 unloader

4

 shuttle Available

6

 palletizer

8th

 logistics axis

10

 I point

12

 promoter

13

 cross conveyor

14

 location

16

 separating station

18

 shuttle vehicle

20

 shelf

22

 shelving

24

 stacker

26

 Pallet buffer space

27

 Pallet buffer space

28

 control unit

30

 drive block

32

 drive block

34

 wheel

36

 wheel

38

 Load handling devices

39

 rail

40

 rail

42

 bearing surface

44

 holding arm

46

 front

48

 output conveyor

50

 Pallet

52

 link conveyor

54

 double lift

56

 traversing

58

 Entladeportal

60

 lifting device

62

 palletizing

64

 Palettierschacht

66

 coil winder

Claims (14)

Picking device for picking goods, with a shelving system ( 22 ), which has a variety of shelves ( 20 ), which are along driveways ( 28 ) by means of shuttle vehicles ( 18 ) are approachable, each one carrying the good load-carrying means ( 38 ), characterized in that the extension path of the load receiving means ( 38 ) is largely freely controllable depending on the type, number or size of the goods. Order-picking device according to claim 1, wherein the load-handling device ( 38 ) is infinitely or stepwise movable, wherein in the latter case at least two extended positions between a fully extended or a retracted position can be controlled. Order-picking device according to claim 1 or 2, with retaining arms ( 44 ) for fixing the position of the goods on the shuttle vehicle ( 18 ). Picking device according to one of the preceding claims, with a control unit ( 28 ), which is designed such that the shuttle vehicle ( 18 ) can receive or transfer several different containers / goods in succession and along predetermined routes ( 20 ) is movable. Picking device according to one of the preceding claims, comprising a chassis which has at least three, preferably four steerable wheels. Order-picking device according to one of the preceding claims, wherein the shelving system ( 22 ) several levels and a lift for moving the shuttle vehicle ( 18 ) between the levels. Order-picking device according to one of the preceding claims, having an unloader ( 2 ) for depalletizing of unmixed delivered containers and for transfer to at least one shuttle vehicle ( 18 ). Picking device according to one of the preceding claims, with a palletizer ( 6 ) for palletizing via the shuttle vehicle ( 18 ) depending on a predetermined packing order from the shelving system ( 22 ) supplied container. Order-picking device according to one of the preceding claims, wherein the shuttle vehicle ( 18 ) is formed with its own power supply, wherein a charge takes place at a lift. Order picking device according to one of the preceding claims, wherein the control unit is designed such that a plurality of shuttle vehicles ( 18 ) can be controlled according to the swarm principle. Order picking device according to one of the preceding claims, wherein the control unit ( 28 ) their control signals wirelessly, preferably by radio or WLAN to the shuttle vehicle ( 18 ) transmits. Order-picking device according to one of the preceding claims, wherein the shuttle vehicle ( 18 ) is reversible on the spot and / or the load-carrying means ( 38 ) is executable on both sides. Order-picking device according to one of the preceding claims, wherein each shuttle vehicle ( 18 ) is executed with a navigation system. Order-picking device according to one of the preceding claims, wherein each shelf ( 20 ) for receiving several, in the extension direction of the lifting device ( 38 ) running one behind the other storage spaces, the rear storage space is carried out with a stop.

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